cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

# Buyi ROS
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

rosbuild_init()

#IF(NOT CMAKE_BUILD_TYPE)
#  SET(CMAKE_BUILD_TYPE Release)
#ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

#set(CMAKE_PREFIX_PATH "/usr/local/opencv320/share/OpenCV")
find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(G2O REQUIRED)
find_package(LIBMONGOCXX 3.1.3 EXACT REQUIRED)
find_package(LIBBSONCXX 3.1.3 EXACT REQUIRED)
find_package(PCL 1.7 REQUIRED)


include_directories(
        ${PROJECT_SOURCE_DIR}
        ${PROJECT_SOURCE_DIR}/include
        ${EIGEN3_INCLUDE_DIR}
        ${Pangolin_INCLUDE_DIRS}
        ${G2O_INCLUDE_DIR}
        ${G2O_INCLUDE_DIR}/include
        ${LIBMONGOCXX_INCLUDE_DIRS}
        ${LIBBSONCXX_INCLUDE_DIRS}
        ${catkin_INCLUDE_DIRS}
        ${PCL_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
        src/System.cc
        src/Tracking.cc
        src/LocalMapping.cc
        src/LoopClosing.cc
        src/ORBextractor.cc
        src/ORBmatcher.cc
        src/FrameDrawer.cc
        src/Converter.cc
        src/MapPoint.cc
        src/KeyFrame.cc
        src/Map.cc
        src/MapDrawer.cc
        src/Optimizer.cc
        src/PnPsolver.cc
        src/Frame.cc
        src/KeyFrameDatabase.cc
        src/Sim3Solver.cc
        src/Initializer.cc
        src/Viewer.cc
        src/G2oTypes.cc
        src/MongoTypes.cc
        src/pointcloudmapping.cc
        )

set(G2O_LIBRARIES
        ${G2O_CORE_LIBRARY} ${G2O_TYPES_SLAM3D} ${G2O_SOLVER_CSPARSE}
        ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CSPARSE_EXTENSION} ${G2O_TYPES_SBA})

link_directories(${LIBBSONCXX_LIBRARY_DIRS} ${LIBMONGOCXX_LIBRARY_DIRS})

target_link_libraries(${PROJECT_NAME}
        ${OpenCV_LIBS}
        ${EIGEN3_LIBS}
        ${Pangolin_LIBRARIES}
        ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
        ${G2O_LIBRARIES}
        ${LIBMONGOCXX_LIBRARIES}
        ${LIBBSONCXX_LIBRARIES}
        ${PCL_LIBRARIES}
        )

# Build test
add_executable(mongo_test
test/mongo_test.cc src/MongoTypes.cc)
target_link_libraries(mongo_test ${OpenCV_LIBS} ${LIBMONGOCXX_LIBRARIES} ${LIBBSONCXX_LIBRARIES})

# Build examples

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

#add_executable(rgbd_tum
#Examples/RGB-D/rgbd_tum.cc)
#target_link_libraries(rgbd_tum ${PROJECT_NAME})

#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

#add_executable(stereo_kitti
#Examples/Stereo/stereo_kitti.cc)
#target_link_libraries(stereo_kitti ${PROJECT_NAME})

#add_executable(stereo_euroc
#Examples/Stereo/stereo_euroc.cc)
#target_link_libraries(stereo_euroc ${PROJECT_NAME})


#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

#add_executable(mono_tum
#Examples/Monocular/mono_tum.cc)
#target_link_libraries(mono_tum ${PROJECT_NAME})

#add_executable(mono_kitti
#Examples/Monocular/mono_kitti.cc)
#target_link_libraries(mono_kitti ${PROJECT_NAME})

#add_executable(mono_euroc
#Examples/Monocular/mono_euroc.cc)
#target_link_libraries(mono_euroc ${PROJECT_NAME})

# Buyi localmapping


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Nodes/bin)

rosbuild_add_executable(LocalMapping  Nodes/LocalMapping_node.cpp)
target_link_libraries(LocalMapping ${PROJECT_NAME} ${CERES_LIBRARIES})

rosbuild_add_executable(Tracking  Nodes/Tracking_node.cpp)
target_link_libraries(Tracking ${PROJECT_NAME} ${CERES_LIBRARIES})

rosbuild_add_executable(LoopClosing  Nodes/LoopClosing_node.cpp)
target_link_libraries(LoopClosing ${PROJECT_NAME} ${CERES_LIBRARIES})
